CN118627864A

CN118627864A - AGV power dispatching method, device, electronic device and storage medium

Info

Publication number: CN118627864A
Application number: CN202411101061.7A
Authority: CN
Inventors: 李博涵; 张�浩; 胡明溥; 任亦; 李文贤
Original assignee: Sie Consulting Co ltd; China Industrial Internet Research Institute
Current assignee: China Industrial Internet Research Institute Cryptographic Application Research Center Of Ministry Of Industry And Information Technology; Sie Consulting Co ltd
Priority date: 2024-08-12
Filing date: 2024-08-12
Publication date: 2024-09-10
Anticipated expiration: 2044-08-12
Also published as: CN118627864B

Abstract

The present application provides an AGV power scheduling method, device, electronic device and storage medium, which are applied to the field of industrial manufacturing technology. The identification code on the material is read by the identification device to generate an optimal first transportation route. By monitoring the current first power information of the AGV, according to the first power information of the AGV and the first transportation route, it is judged whether the AGV has enough power to complete the transportation task, thereby avoiding transportation interruptions caused by insufficient power. In the case of insufficient power, an AGV with sufficient power is used to take over the material transportation task in the charging area to achieve the smooth transfer of materials. Therefore, the present application ensures that materials can be delivered in time through real-time power scheduling and dynamic adjustment of task requirements, while optimizing the use efficiency of the AGV and reducing transportation delays caused by power problems.

Description

AGV electric quantity scheduling method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of industrial manufacturing, in particular to an AGV electric quantity scheduling method, an AGV electric quantity scheduling device, electronic equipment and a storage medium.

Background

In the field of industrial automation, automatic Guided Vehicles (AGVs) are increasingly important as intelligent transport devices with the deep development of industry 4.0. AGV can realize the automatic transport of material, showing and promoting production efficiency and reducing the cost of labor. Particularly, on flexible production lines, one production line is used for producing different parts, and quality inspection can be performed after the parts are produced. In order to manage the warehouse order of the factory in a standardized way, unqualified parts are uniformly placed in a designated storage area and stored, and labels are attached to the parts to indicate defects of the unqualified parts and stations requiring reworking. Typically, these parts requiring rework are transported by the AGV to the corresponding station for rework, however, the power management problem of the AGV becomes a key bottleneck limiting performance. Specifically, the existing AGV power management method has the following disadvantages:

1. Because the running path and the load of the AGV may be different when the AGV executes the task, the electric quantity consumption is not uniformly distributed, which increases the risk of electric quantity consumption, and further may cause interruption of task execution; 2. when the AGV is insufficient in electric quantity, the AGV cannot return in time due to the fact that the AGV is far away from a charging area or a path is blocked, so that production efficiency is affected, and interruption of a production flow is caused.

In summary, an effective electric quantity scheduling strategy is lacking in the prior art, dynamic optimization scheduling cannot be performed according to real-time electric quantity and task requirements of the AGV, so that resource utilization efficiency is low, and running efficiency of the AGV cannot be maximized.

Disclosure of Invention

In view of the shortcomings of the prior art, the AGV electric quantity scheduling method, the device, the electronic equipment and the storage medium provided by the application are applied to the technical field of industrial manufacturing, and can ensure that an AGV can efficiently complete a transport task by identifying a material identification code and the residual electric quantity of the AGV in real time, and when the electric quantity of the AGV is insufficient to complete all transport tasks, a path can be planned again in time, partial materials can be transferred to other AGVs, the timely delivery of the materials is ensured, delay in the transport process is reduced, the beneficial effect of the dynamic scheduling of the electric quantity of the AGV is realized, the utilization rate of resources is improved, and the running efficiency of the AGV is maximized.

In a first aspect, the present application provides an electric quantity scheduling method for an AGV, where the method is applied to the AGV, and the AGV reciprocates between a reworked material bin and a processing station, and is configured to send randomly picked and placed materials to the corresponding processing station in the reworked material bin, where an identification code is provided on the materials, where a charging area is provided on a path of the reworked material bin and the processing station, and where an identification device is provided in the charging area, the method includes:

s1: when the AGV passes through the charging area, the identification code on the material is identified by the identification device to generate a first transportation route;

S2: acquiring current first electric quantity information of the AGV;

s3: judging whether the AGV can convey all the materials currently carried by the AGV along the first transport route according to the first transport route and the first electric quantity information;

S4: when the AGVs cannot convey all the materials currently carried by the AGVs along the first conveying route, acquiring second electric quantity information of the rest AGVs which are conveyed between the charging area and the processing station;

s5: and controlling the AGV to transfer the materials in the charging area according to the second electric quantity information.

According to the AGV scheduling method provided by the application, the identification codes on the materials are read through the identification device, and the system can determine the specific processing stations to which the materials need to be sent, so that an optimal first transportation route is generated, the materials are ensured to be sent to the destination accurately, and the transportation efficiency is improved. And providing basic data for subsequent electric quantity scheduling by monitoring the current first electric quantity information of the AGV. According to the first electric quantity information and the first transport route of the AGV, whether the AGV has enough electric quantity to complete a transport task is judged, transport interruption caused by insufficient electric quantity is avoided, and continuity and reliability of material transport are ensured. When current AGV electric quantity is insufficient to accomplish the task, collect the second electric quantity information of other AGVs that are being transported between charging area and the processing station, provide more options for the electric quantity dispatch, can assist to accomplish the transportation task through other AGVs that the electric quantity is abundant, under the condition that the electric quantity is insufficient, utilize the AGVs that the electric quantity is abundant to take over the material transportation task in the charging area, realize the smooth transfer of material. Therefore, the application ensures that materials can be delivered in time through real-time electric quantity scheduling and task demand dynamic adjustment, simultaneously optimizes the use efficiency of the AGV and reduces transportation delay caused by electric quantity problems.

Further, step S5 includes:

S51: judging whether other AGVs which are transported between the charging area and the processing station can bear the current transport task of the AGVs or not according to the second electric quantity information;

S52: when other AGVs cannot bear the transportation task of the current AGVs, generating a second transportation route according to the first electric quantity information and the identification codes, so that the current AGVs send the second materials capable of being transported to the corresponding stations and return to the charging areas;

s53: and when other AGVs can bear the transport tasks of the current AGVs, controlling the current AGVs to transfer the materials in the charging area according to the first transport route.

According to the AGV scheduling method provided by the application, whether the transportation task needs to be redistributed can be determined by evaluating whether the second electric quantity information of other AGVs transported between the charging area and the processing station is enough to take over the transportation task of the current AGV, so that the task can be ensured to be smoothly carried out, and meanwhile, the resource waste is avoided. If other AGVs cannot bear the transport task of the current AGV, the system generates a new second transport route according to the remaining first electric quantity information of the current AGV and the identification code of the material, so that the current AGV can send the second material to the charging area. Through nimble adjustment transportation route, ensure even under the condition of electric quantity inadequately, also can accomplish the transportation task as far as possible, reduce the material that leads to because of the electric quantity problem and detain. When other AGVs can bear the transport task of current AGVs, the system will control current AGVs to transfer the material to the AGVs of electric quantity sufficiency in the charging area, through the transfer of material, can ensure that transport task can be accomplished by the AGVs of electric quantity sufficiency, improves conveying efficiency, allows the AGVs of electric quantity insufficiency to charge in time simultaneously, is ready for next transport task.

Further, step S53 includes:

S531: when other AGVs can bear the transport task of the current AGVs, acquiring the furthest first station which is reached by the current AGVs along the first transport route according to the first electric quantity information;

s532: obtaining a second station which cannot be transported by the AGV currently through the first station, wherein the second station comprises one or more than one station;

s533: and controlling the AGV to transfer a third material corresponding to the second station in the charging area.

According to the AGV scheduling method provided by the application, the furthest first station which can be reached by the AGV along the first transportation route is calculated and determined according to the current first electric quantity information of the AGV, so that the transportation capacity range of the AGV can be known, and accurate information is provided for subsequent material distribution and task adjustment. After determining the furthest station that the AGV can reach, discern the second station that those AGV electric quantity is insufficient to transport to, the second station can include one or more, through discernment second station, can confirm which material's transportation task needs to be redistributed or adjusted, ensures that whole logistics system can high-efficient operation. The AGVs with insufficient control power transfer the third materials which cannot be conveyed to the second station to other AGVs with sufficient power in the charging area, so that the materials can be safely and timely conveyed to the correct destination even under the condition of power limitation. Meanwhile, the AGV optimizing system also optimizes the use efficiency of the AGV and reduces transportation delay and logistics bottleneck caused by electric quantity problems.

Further, step S52 further includes:

s54: when other AGVs can bear the current transport task of the AGVs, acquiring weight information of each material according to the identification codes;

S55: and controlling the AGV to transfer the materials in the charging area according to the weight information.

According to the AGV scheduling method provided by the application, through the identification codes on the materials, the system can inquire and acquire the weight information of each material, and the weight information is acquired, so that the system can more accurately judge which materials can be transported by the AGV under the current electric quantity, and how to most effectively distribute the transport tasks. By taking the weight of the material into account, the system may make more reasonable decisions, such as preferentially transferring heavier weight materials, to ensure that the AGV transports as much material as the amount of electricity allows. This helps improving transport efficiency, reduces because of the transportation interruption that the electric quantity is not enough leads to, ensures that the material can reach the destination in time.

Further, step S55 includes:

S551: the materials are arranged in a descending order according to the weight information to obtain a transfer priority table of the materials;

S552: determining a fourth material which cannot be transported by the AGV currently according to the transfer priority table and the first electric quantity information;

S553: and controlling the AGV to transfer the fourth material in the charging area.

Further, step S52 further includes:

S56: when other AGVs can bear the transport task of the current AGVs, acquiring a fifth material which is carried on the current AGVs and is the same as a target station to which the materials on the other AGVs are correspondingly sent;

s57: and controlling the AGV to transfer the fifth material in the charging area.

Further, step S52 further includes:

S58: when other AGVs can bear the transport tasks of the current AGVs, acquiring a sixth material on transport routes of other AGVs in the current AGVs carrying the materials;

s59: and controlling the AGV to transfer the sixth material in the charging area.

In a second aspect, the present application provides an AGV power dispatching apparatus, including:

and an identification module: the AGV is used for generating a first transportation route by identifying the identification code on the material through the identification device when the AGV passes through the charging area;

a first acquisition module: the AGV is used for acquiring current first electric quantity information of the AGV;

And a judging module: the AGV is used for judging whether all the materials currently carried by the AGV can be conveyed along the first conveying route according to the first conveying route and the first electric quantity information;

and a second acquisition module: the AGV is used for acquiring second electric quantity information of the rest AGVs which are being transported between the charging area and the processing station when the AGVs cannot transport all the materials currently carried by the AGVs along the first transport route;

And a scheduling module: and the AGV is used for controlling the AGV to transfer the materials in the charging area according to the second electric quantity information.

In a third aspect, the application provides an electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of any of the methods described above.

In a fourth aspect, the application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.

The beneficial effects are that: according to the AGV electric quantity scheduling method, the AGV electric quantity scheduling device, the electronic equipment and the storage medium, the identification codes on the materials are read through the identification device, and the system can determine the specific processing stations to which the materials need to be sent, so that an optimal first transportation route is generated, the materials are ensured to be sent to a destination accurately, and the transportation efficiency is improved. And providing basic data for subsequent electric quantity scheduling by monitoring the current first electric quantity information of the AGV. According to the first electric quantity information and the first transport route of the AGV, whether the AGV has enough electric quantity to complete a transport task is judged, transport interruption caused by insufficient electric quantity is avoided, and continuity and reliability of material transport are ensured. When current AGV electric quantity is insufficient to accomplish the task, collect the second electric quantity information of other AGVs that are being transported between charging area and the processing station, provide more options for the electric quantity dispatch, can assist to accomplish the transportation task through other AGVs that the electric quantity is abundant, under the condition that the electric quantity is insufficient, utilize the AGVs that the electric quantity is abundant to take over the material transportation task in the charging area, realize the smooth transfer of material. Therefore, the application ensures that materials can be delivered in time through real-time electric quantity scheduling and task demand dynamic adjustment, simultaneously optimizes the use efficiency of the AGV and reduces transportation delay caused by electric quantity problems.

Drawings

FIG. 1 is a flow chart of an AGV power dispatching method according to the present application.

Fig. 2 is a block diagram of an AGV power dispatching device according to the present application.

Fig. 3 is a schematic structural diagram of an electronic device provided by the present application.

Description of the reference numerals: 201. an identification module; 202. a first acquisition module; 203. a judging module; 204. a second acquisition module; 205. a scheduling module; 301. a processor; 302. a memory; 303. a communication bus; 3. an electronic device.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first, second", etc. are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

The following disclosure provides a number of different embodiments or examples for implementing the purposes of the present invention, and solves the problem that in the prior art, the dynamic optimization scheduling cannot be performed according to the real-time electric quantity and the task requirement of the AGV, so that the resource utilization efficiency is low, and the running efficiency of the AGV cannot be maximized.

Referring to fig. 1, the present application provides an electric quantity scheduling method for an AGV, the method is applied to the AGV, the AGV moves back and forth between a reworked material bin and a processing station, the method is used for conveying randomly picked and placed materials to the corresponding processing station in the reworked material bin, the materials are provided with identification codes, the necessary routes of the reworked material bin and the processing station are provided with charging areas, and the charging areas are provided with identification devices, the method comprises:

s2: acquiring current first electric quantity information of the AGV;

S3: judging whether the AGV can convey all materials currently carried by the AGV along the first conveying route according to the first conveying route and the first electric quantity information;

s5: and controlling the current AGV to transfer materials in the charging area according to the second electric quantity information.

In the current industrial production, the processing of multiple products is involved, and the processing of the multiple products inevitably causes processing flaws, and the products with the processing flaws need to be reworked and repaired, so as to avoid the obstruction to the production process, generally, the products with the flaws cannot be reworked immediately after being checked for quality, but the products with the flaws are put into a reworked material bin, and then the unified reworking is performed. In order to distinguish defective products, an identification code is applied to the corresponding product, which indicates the type of product, and which indicates that the product should be sent to a processing station for processing repair, in particular, can be provided with the multilayer work or material rest on AGV, when returning, can put into the work or material rest with the product that has processing flaw on, each layer work or material rest can all place the product of waiting to do so with the flaw.

When the AGVs transport defective products to corresponding processing stations, the problem of the electric quantity of the AGVs needs to be considered to avoid the problem that the AGVs cannot be transported due to power outage in the transport process, some schemes for carrying out path planning or AGV scheduling aiming at the electric quantity of the AGVs exist in the prior art, the scheme generally obtains the electric quantity of the AGVs before the AGVs transport goods and then arranges goods and paths transported by each AGV according to the electric quantity, but the scheme is not suitable for the application scene proposed by the application.

On the basis, the application provides that a charging area is arranged between the reworking material bin and the processing station, and an identification device is arranged in the charging area, so that when the AGV carries the material to be reworked to reach the charging area, the identification device can identify the identification code on the material to be reworked, and the type of the material and the information of the processing station to be sent to are acquired, thereby being beneficial to follow-up material management and path planning.

Wherein, be provided with the device that can shift the material in the district that charges, specifically can include the temporary storage and move the material manipulator, under the circumstances that needs the material of redistribution, AGV will wait to rework the material and transport the temporary storage to the district that charges, start and move the material manipulator, according to the task of planning again, shift the material of temporary storage to other sufficient AGVs of electric quantity on the work or material rest. The material moving manipulator can accurately place materials on the appointed material frame layer of the corresponding AGV according to the identification codes of the materials and the target processing stations. The entire material transfer process is monitored by a control system to ensure smooth operation and manual or automatic adjustment as necessary.

When the current AGV is controlled to transfer materials in the charging area according to the second electric quantity information, whether the current AGV is controlled to transfer materials in the charging area according to the second electric quantity information can be controlled, and whether the current AGV is controlled to transfer materials in the charging area according to the second electric quantity information can also be controlled.

The current AGV is controlled to be insufficient in first electric quantity information remained by the current AGV under the condition that whether the material is transferred in the charging area or not, the task that the material to be reworked is conveyed to a designated processing station and safely returns to the charging area is completed, and the material distribution and the AGV dispatching can be optimized by transferring part or all of the material to be reworked to other AGVs with sufficient second electric quantity information, so that the efficiency of the whole production and AGV conveying system is improved.

Wherein, the condition of which material is transferred in the charging area by the current AGV can be controlled as follows: judging whether the current AGV can convey the specific material to the target station according to the first electric quantity information remained by the current AGV, and if the first electric quantity information is insufficient, preferentially transferring the materials with a longer distance or higher electric quantity requirement; or according to the weight and the size of the materials, evaluating the bearing capacity of the current AGV, and preferentially transferring the materials exceeding the bearing limit of the current AGV; the automatic conveying device can also transfer materials with high urgency and great influence on the production flow from the steps to be processed according to the urgency degree and the processing requirement of the materials, and can reduce invalid movement of the AGV and improve the overall conveying efficiency by intelligently selecting which specific materials to transfer. The transport tasks of the AGVs are reasonably distributed, so that each AGV can efficiently complete the tasks within the electric quantity range, the materials can reach the destination timely and accurately, the product quality can be improved, and the customer satisfaction is improved.

Wherein the identification code on the material allows the system to quickly identify the destination and related information of the material, ensuring that the material can be accurately directed to the correct processing station. The identification code can be a two-dimensional code or a bar code and at least comprises processing station information for transporting the materials, type information of the materials and weight information of the materials. The charging area on the necessary road ensures that the AGV has the opportunity to carry out electric quantity replenishment in the transportation process, and maintains the running capability of the AGV. The identification means in the charging zone can identify the identification code on the material and make scheduling decisions if necessary.

In step S1, the identification device is used to read the identification code on the material, so as to automatically obtain the processing station information corresponding to the material, without manual intervention. According to the processing station information which is carried by all materials carried on the AGV and corresponds to the materials, the system can automatically generate an optimal transportation route from the current position to the destination. Automatic identification and route generation reduce manual operation's demand, have improved whole logistics system's operating efficiency, and the system can be according to the processing station information dynamic adjustment transportation route that acquires in real time, ensures the optimality of transportation, and the information that obtains through the identification code, and the system can understand the priority and the emergency of material better to optimize AGV's resource allocation. For example, currently, the AGV trolley is loaded with materials with A, B, C stations, wherein the materials are analyzed from a workshop grid drawing, the station A is closest to the charging area, the station C is farthest from the charging area, and the material transportation priority of the station C is highest, so that the system can dynamically adjust the transportation route. The priority and the emergency degree of the materials can be ordered according to the backlog materials on each processing station, and the fewer the backlog materials are, the higher the transportation priority is. It can be appreciated that the priority judgment mode is set by a technician according to the actual situation of the workshop, and is not limited to the ordering mode of the backlog materials.

In step S2, current first power information in the AGV may be obtained by an in-vehicle sensor or a battery management system built into the AGV.

In step S3, the system evaluates whether the AGV has enough power to complete the transport task according to the current first power information of the AGV and the distance or consumption of the first transport route, so that the AGV can execute the transport task within the allowable range of the power, and the task failure caused by the insufficient power is reduced. And through the electric quantity judgment, the reliability of the whole transportation system is improved, the transportation uncertainty caused by the electric quantity problem is reduced, and the intelligent scheduling decision such as material transfer or redistribution transportation task is conveniently provided for the condition of insufficient electric quantity. This may be accomplished by a virtual simulation module on the system.

In step S4, collecting the electric quantity information of other AGVs being transported between the charging area and the processing station, providing data support for subsequent electric quantity dispatching and material transfer, evaluating currently available AGV resources, determining which AGVs can pick up or assist in completing a transport task, receiving the transport task by reasonably distributing AGVs with sufficient electric quantity, improving the overall transport efficiency, enabling the system to flexibly cope with the condition of insufficient electric quantity, and ensuring timely delivery of materials by adjusting transport resources. For example: in the process of conveying materials from the reworked material bin to the processing station by the AGV- ①, the first electric quantity information is displayed by the electric quantity monitoring, so that the whole conveying task is not completed, the system automatically acquires the second electric quantity information of other AGVs (AGVs- ②, AGV-③, AGV-④, AGV-⑤) which are conveyed between the charging area and the processing station, the system monitors to find that the electric quantity of the AGVs- ② and the AGVs- ③ is sufficient, and the electric quantity of the AGVs- ④ and the AGVs- ⑤ is nearly exhausted. Further, the system may prioritize the AGVs- ② and ③ with sufficient second power information to take over the remaining transport tasks of the AGVs- ①, i.e., in step S5, the system controls the AGVs- ① to transfer the remaining material to the AGVs- ② and/or the AGVs- ③ in the charging area.

In some preferred embodiments, the real-time position of AGVs- ②、AGV-③ may be further acquired, and the AGVs with closer real-time positions in AGVs- ②、AGV-③ may be selected to transfer material to the charging area. If the real-time positions of the AGVs- ②、AGV-③ are close to the charging area and do not exceed the preset distance difference, the AGVs- ②、AGV-③ are controlled to go to the charging area to pick up materials, if the real-time positions of the AGVs- ②、AGV-③ are far away from the charging area and exceed the preset distance difference, the AGVs- ②、AGV-③ are controlled to finish tasks of the AGVs, and then the AGVs return to the charging area to pick up the current tasks of the AGVs.

Further, step S5 includes:

S51: judging whether other AGVs which are transported between the charging area and the processing station can bear the transport task of the current AGVs or not according to the second electric quantity information;

S52: when other AGVs cannot bear the transport task of the current AGVs, generating a second transport route according to the first electric quantity and the identification codes, and enabling the current AGVs to send the second material capable of being transported to the corresponding stations and then return to the charging areas;

S53: when other AGVs can bear the transport tasks of the current AGVs, the current AGVs are controlled to transfer materials in the charging area according to the first transport route.

The method comprises the steps of evaluating whether second electric quantity information of other AGVs is enough to bear the transportation task which cannot be completed by the current AGVs due to insufficient electric quantity, when the other AGVs cannot bear the transportation task of the current AGVs, re-planning a second transportation route which can be completed according to first electric quantity information of the current AGVs and identification codes of materials, allowing the current AGVs to complete the transportation task as much as possible within an electric quantity allowed range, and then safely returning to a charging area to conduct electric quantity replenishment. When other AGVs can bear the transport task of current AGVs, control current AGVs and shift the material to the AGVs that the electric quantity is sufficient in the charging area to accomplish remaining transport task, optimize resource allocation, ensure that the material can be in time delivered to the destination by the AGVs that the electric quantity is sufficient, allow the AGVs that the electric quantity is insufficient to charge in time simultaneously, prepare for next transport task.

In practical application, in an automatic manufacturing shop, the AGV- ① is conveying materials from a reworked material warehouse to a processing station, but the first electric quantity information is insufficient to complete the whole transportation task. The system queries the second power information of other AGVs between the charging area and the processing station to evaluate whether they can pick up the remaining transport tasks of the AGV- ①. When the system finds that none of the remaining AGVs is sufficiently charged to handle the transport tasks of AGVs- ①. The system generates a new second transport route according to the first electric quantity information of the AGV- ① and the identification code of the material, wherein the second transport route only comprises stations which can be delivered by the AGV- ①. When the system finds that there are other AGVs, such as AGV- ② and AGV- ③, that are sufficiently charged to be able to handle the transport tasks of AGV- ①, the material that cannot be transported on AGV- ① is transferred to AGV- ② and/or AGV- ③ according to the first transport route.

Through the mode, the problem of insufficient electric quantity of the AGV is effectively solved by the electric quantity scheduling method, the transport efficiency of the AGV is optimized, and the materials are ensured to be safely and timely delivered to the destination. At the same time, it also shows the intelligent scheduling ability of the system when facing the limitation of the electric quantity.

Further, step S53 includes:

S531: when other AGVs can bear the transport task of the current AGV, acquiring the furthest first station reached by the current AGV along the first transport route according to the first electric quantity;

S532: obtaining a second station which cannot be transported by the current AGV through the first station, wherein the second station comprises one or more than one station;

S533: and controlling the current AGV to transfer a third material corresponding to the second station in the charging area.

According to the current electric quantity of the AGVs, the furthest first station which can be reached along the first transportation route is determined, materials corresponding to the stations on the first transportation route are clearly obtained by the first station and are required to be reassigned to other AGVs, the materials are guaranteed to be delivered in time, and delay caused by electric quantity problems is avoided. The current AGV of control shifts the third material that can't transport to the second station to other abundant AGVs of electric quantity in the district that charges, has guaranteed that even under the circumstances of electric quantity inadequately, the material can also be by the timely destination that reaches of electric quantity sufficient AGVs, allows the timely charging of the AGVs of electric quantity inadequately simultaneously, is ready for next transport task.

In practical applications, a power consumption model may be established, where the power consumption model predicts power consumption based on the operating parameters of the AGV (e.g., speed, load weight, etc.). By the model, the furthest distance that the AGV can travel under the current electric quantity can be estimated. The first station actually refers to a station which can return to the charging area corresponding to the current AGV after arriving. The stations along the first transport path that the AGV cannot reach are then second stations, which may be one or more. In the charging zone, AGV- ① transfers the third material that cannot be delivered to the second station to a fully charged AGV- ② and/or AGV- ③.

Further, step S52 further includes:

s54: when other AGVs can bear the transportation task of the current AGVs, acquiring weight information of each material according to the identification codes;

s55: and controlling the current AGV to transfer materials in the charging area according to the weight information.

The weight information of each material is automatically acquired through the identification code, data support is provided for subsequent transportation task distribution and electric quantity management, the weight information is helpful for evaluating the transportation capacity and electric quantity consumption of the AGV, the AGV is ensured not to quickly consume electric quantity or fail in transportation due to overload, further the transportation task can be intelligently distributed according to the weight of the material, and the use efficiency of the AGV is optimized. Utilize the weight information of material to decide under the limited circumstances of electric quantity, which material should be transferred by current AGV in the district that charges for other abundant AGVs of electric quantity, ensure the AGV and transport partial material in the within range that electric quantity allows, improve AGV's conveying efficiency.

Further, step S55 includes:

s551: the materials are arranged in a descending order according to the weight information to obtain a material transfer priority table;

s552: determining a fourth material which cannot be transported by the current AGV according to the transfer priority table and the first electric quantity information;

S553: and controlling the current AGV to transfer the fourth material in the charging area.

According to weight information of materials, all materials are arranged in descending order according to weight, a transfer priority table of the materials is created, the fact that the materials with heavy weight are preferentially transferred under the condition of limited electric quantity is guaranteed, the fourth materials which are insufficient for transportation due to the fact that the current AGV electric quantity is insufficient are determined by utilizing the transfer priority table and the first electric quantity information of the AGV, and therefore the materials cannot be transported due to the limitation of the AGV electric quantity are clear, transfer decisions can be timely conducted, and production efficiency is prevented from being influenced. The current AGV of control is under the condition of electric quantity deficiency, and other AGVs of electric quantity is given with fourth material transfer in the charging area, has guaranteed even under the condition of current AGV electric quantity deficiency, and the material also can be in time delivered to the destination through the AGV of electric quantity sufficiency, has ensured production flow's continuity.

In practical application, the system creates a transfer priority table of materials according to the weight information of the materials, the materials with heavier weight are arranged in front, the system analyzes the transfer priority table and the residual electric quantity of the AGV- ① to determine fourth materials which cannot be transported by the AGV- ①, and in a charging area, the AGV- ① transfers the fourth materials to the AGV- ② and/or the AGV- ③ with sufficient electric quantity so that the fourth materials can be continuously transported to a production line. Wherein, the fourth material which can not be transported can be confirmed by the electric quantity consumption model.

Further, step S52 further includes:

s56: when other AGVs can bear the transport task of the current AGV, acquiring a fifth material which is the same as a target station to which the materials on other AGVs are correspondingly sent in the carried materials of the current AGV;

s57: and controlling the current AGV to transfer the fifth material in the charging area.

Among the materials carried on the current AGV, the fifth material with the same destination (target station) as the materials on other AGVs is identified, and the fifth material which can be transported by the AGVs with more sufficient or more suitable electric quantity is selected. Through concentrating the material of the same destination, can reduce the condition of repeated transportation the same destination material between the different AGVs, improve whole conveying efficiency, help under the limited circumstances of electric quantity, the rational distribution transportation task ensures that the material can in time, accurately reach the destination. The control current AGV is under the condition of electric quantity deficiency, and it is sufficient and other AGVs to go to the same destination to transfer the electric quantity for the electric quantity with the fifth material in the charging area, ensures that the material can be transported by most suitable AGV, even current AGV electric quantity is not enough, also can not influence the timely delivery of material, has optimized the availability factor of AGV, has reduced the transportation delay because of the electric quantity problem leads to.

In practical application, the system checks the materials carried on the AGV- ① and matches the materials on the AGV- ② and the AGV- ③ to find out a fifth material with the same destination, the system finds out that a batch of materials on the AGV- ① need to be transported to the C station, a batch of materials on the AGV- ② are destined for the C station, and the AGV- ③ does not need to be transported to the C station, and then in a charging area, the system controls the AGV- ① to transfer the batch of materials destined for the C station to the AGV- ②. The situations of blind material transfer, AGV electric quantity waste and conveying efficiency are avoided.

If the fifth material which is the same as the target station to which the other AGVs are correspondingly conveyed does not exist in the materials conveyed by the current AGVs, the sixth material which is on the same path with the other AGVs in the materials carried by the current AGVs can be selected and obtained in order to improve the conveying efficiency. Further, step S52 further includes:

s58: when other AGVs can bear the transport task of the current AGV, acquiring a sixth material on transport routes of other AGVs in the carried materials of the current AGV;

s59: and controlling the current AGV to transfer the sixth material in the charging area.

Among the materials carried on the current AGV, those sixth materials on the transportation routes of other AGVs can be transported by other AGVs along the way, repeated routes are reduced, transportation efficiency is improved, repeated traveling of the AGVs can be reduced through identifying and centralizing the along-the-way materials, transportation cost and time are reduced, reasonable distribution of transportation tasks is facilitated under the condition of limited electric quantity, and materials can be timely and accurately delivered to a destination. Under the condition of insufficient electric quantity, the current AGV is controlled, the sixth material is transferred to other AGVs with sufficient electric quantity on the way in the charging area, the material is ensured to be transported by the most suitable AGVs, and even if the current AGV is insufficient in electric quantity, the timely delivery of the material can not be influenced.

According to the AGV electric quantity scheduling method provided by the application, the identification code on the material is read through the identification device, and the system can determine the specific processing station to which the material needs to be sent, so that an optimal first transportation route is generated, the material is ensured to be sent to a destination accurately, and the transportation efficiency is improved. And providing basic data for subsequent electric quantity scheduling by monitoring the current first electric quantity information of the AGV. According to the first electric quantity information and the first transport route of the AGV, whether the AGV has enough electric quantity to complete a transport task is judged, transport interruption caused by insufficient electric quantity is avoided, and continuity and reliability of material transport are ensured. When current AGV electric quantity is insufficient to accomplish the task, collect the second electric quantity information of other AGVs that are being transported between charging area and the processing station, provide more options for the electric quantity dispatch, can assist to accomplish the transportation task through other AGVs that the electric quantity is abundant, under the condition that the electric quantity is insufficient, utilize the AGVs that the electric quantity is abundant to take over the material transportation task in the charging area, realize the smooth transfer of material. Therefore, the application ensures that materials can be delivered in time through real-time electric quantity scheduling and task demand dynamic adjustment, simultaneously optimizes the use efficiency of the AGV and reduces transportation delay caused by electric quantity problems.

the identification module 201: the AGV is used for generating a first transportation route by identifying the identification code on the material through the identification device when the AGV passes through the charging area;

The first acquisition module 202: the method comprises the steps of acquiring current first electric quantity information of an AGV;

the judging module 203: the AGV is used for judging whether all materials currently carried by the AGV can be conveyed along the first conveying route according to the first conveying route and the first electric quantity information;

The second acquisition module 204: the method comprises the steps that when the AGVs cannot convey all materials currently carried by the AGVs along a first conveying route, second electric quantity information of the rest AGVs which are conveyed between a charging area and a processing station is obtained;

Scheduling module 205: and the AGV is used for controlling the current AGV to transfer materials in the charging area according to the second electric quantity information.

Wherein the identification module 201 may be a bar scanner, RFUID reader, or visual identification system; the first acquisition module 202 may be a battery management system built into the AGV; the judging module 203 may be a processor or a control unit on a computer, and the second obtaining module 204 may be a wireless communication module; the scheduling module 205 may be a central control computer.

In practice, RFUID readers (identification modules 201) may be used to identify RFID tags attached to items. The method is matched with an image recognition algorithm in software, material information can be quickly read and analyzed, a transportation route is generated, the state of a battery is monitored in real time through an electric quantity sensor or a battery management system (a first acquisition module 202) arranged on the AGV, the electric quantity information is transmitted to a central control computer through data acquisition software, a processor (a judgment module 203) in the controller runs an electric quantity consumption model and a decision algorithm, and whether the AGV has enough electric quantity to complete a transportation task is estimated. The AGV exchanges information with the central control computer through the wireless communication module (the second acquisition module), the database management system running on the central control computer collects and synchronizes all the electric quantity information of the AGV, the central control computer (the scheduling module 205) automatically decides which materials need to be transferred according to the collected electric quantity information and the scheduling algorithm, and generates a scheduling instruction to be sent to the AGV vehicle-mounted controller, and the latter executes the material transfer operation.

The identification device is used for reading the identification code on the material, so that the processing station information corresponding to the material is automatically acquired, and manual intervention is not needed. According to the processing station information which is carried by all materials carried on the AGV and corresponds to the materials, the system can automatically generate an optimal transportation route from the current position to the destination. Automatic identification and route generation reduce manual operation's demand, have improved whole logistics system's operating efficiency, and the system can be according to the processing station information dynamic adjustment transportation route that acquires in real time, ensures the optimality of transportation, and the information that obtains through the identification code, and the system can understand the priority and the emergency of material better to optimize AGV's resource allocation. For example, currently, the AGV trolley is loaded with materials with A, B, C stations, wherein the materials are analyzed from a workshop grid drawing, the station A is closest to the charging area, the station C is farthest from the charging area, and the material transportation priority of the station C is highest, so that the system can dynamically adjust the transportation route. The priority and the emergency degree of the materials can be ordered according to the backlog materials on each processing station, and the fewer the backlog materials are, the higher the transportation priority is. It can be appreciated that the priority judgment mode is set by a technician according to the actual situation of the workshop, and is not limited to the ordering mode of the backlog materials.

The current first electric quantity information in the AGV can be obtained through a vehicle-mounted sensor or a battery management system built in the AGV.

The system evaluates whether the AGV has enough electric quantity to complete the transportation task according to the current first electric quantity information of the AGV and the distance or consumption of the first transportation route, can ensure that the AGV executes the transportation task within the allowable range of the electric quantity, and reduces task failure caused by insufficient electric quantity. And through the electric quantity judgment, the reliability of the whole transportation system is improved, the transportation uncertainty caused by the electric quantity problem is reduced, and the intelligent scheduling decision such as material transfer or redistribution transportation task is conveniently provided for the condition of insufficient electric quantity. This may be accomplished by a virtual simulation module on the system.

Wherein, collecting the electric quantity information of other AGVs being transported between the charging area and the processing station, providing data support for subsequent electric quantity dispatching and material transfer, evaluating the current available AGV resources, determining which AGVs can pick up or assist in completing the transportation task, the AGV with sufficient electric quantity is reasonably distributed to take over a transport task, so that overall transport efficiency is improved, the system can flexibly cope with the condition of insufficient electric quantity, and timely delivery of materials is guaranteed by adjusting transport resources. For example: in the process of conveying materials from the reworked material bin to the processing station by the AGV- ①, the first electric quantity information is displayed by the electric quantity monitoring, so that the whole conveying task is not completed, the system automatically acquires the second electric quantity information of other AGVs (AGVs- ②, AGV-③, AGV-④, AGV-⑤) which are conveyed between the charging area and the processing station, the system monitors to find that the electric quantity of the AGVs- ② and the AGVs- ③ is sufficient, and the electric quantity of the AGVs- ④ and the AGVs- ⑤ is nearly exhausted. Further, the system may prioritize the AGVs- ② and AGVs- ③ with sufficient second power information to take over the remaining transport tasks of the AGVs- ①.

Wherein, the weight information of every material is obtained through the identification code automatically, for follow-up transportation task distribution and electric quantity management provide data support, weight information helps aassessment AGV's transportation ability and electric quantity consumption, ensures that AGV can not lead to the electric quantity to run out fast or transport failure because of the overload, and then can be according to material weight intelligent allocation transportation task, optimize AGV's availability factor. Utilize the weight information of material to decide under the limited circumstances of electric quantity, which material should be transferred by current AGV in the district that charges for other abundant AGVs of electric quantity, ensure the AGV and transport partial material in the within range that electric quantity allows, improve AGV's conveying efficiency.

Therefore, the AGV electric quantity scheduling device provided by the application reads the identification code on the material through the identification device, and the system can determine the specific processing station to which the material needs to be sent, so that an optimal first transportation route is generated, the material is ensured to be sent to a destination accurately, and the transportation efficiency is improved. And providing basic data for subsequent electric quantity scheduling by monitoring the current first electric quantity information of the AGV. According to the first electric quantity information and the first transport route of the AGV, whether the AGV has enough electric quantity to complete a transport task is judged, transport interruption caused by insufficient electric quantity is avoided, and continuity and reliability of material transport are ensured. When current AGV electric quantity is insufficient to accomplish the task, collect the second electric quantity information of other AGVs that are being transported between charging area and the processing station, provide more options for the electric quantity dispatch, can assist to accomplish the transportation task through other AGVs that the electric quantity is abundant, under the condition that the electric quantity is insufficient, utilize the AGVs that the electric quantity is abundant to take over the material transportation task in the charging area, realize the smooth transfer of material. Therefore, the application ensures that materials can be delivered in time through real-time electric quantity scheduling and task demand dynamic adjustment, simultaneously optimizes the use efficiency of the AGV and reduces transportation delay caused by electric quantity problems.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and the present application provides an electronic device 3, including: processor 301 and memory 302, the processor 301 and memory 302 being interconnected and in communication with each other by a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing computer readable instructions executable by the processor 301, which when executed by an electronic device, the processor 301 executes the computer readable instructions to perform the methods in any of the alternative implementations of the above embodiments to perform the functions of: when the AGV passes through the charging area, the identification code on the material is identified by the identification device to generate a first transportation route; acquiring current first electric quantity information of the AGV; judging whether the AGV can convey all materials currently carried by the AGV along the first conveying route according to the first conveying route and the first electric quantity information; when the AGVs cannot convey all the materials currently carried by the AGVs along the first conveying route, acquiring second electric quantity information of the rest AGVs which are conveyed between the charging area and the processing station; and controlling the current AGV to transfer materials in the charging area according to the second electric quantity information.

An embodiment of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs a method in any of the alternative implementations of the above embodiments to implement the following functions: when the AGV passes through the charging area, the identification code on the material is identified by the identification device to generate a first transportation route; acquiring current first electric quantity information of the AGV; judging whether the AGV can convey all materials currently carried by the AGV along the first conveying route according to the first conveying route and the first electric quantity information; when the AGVs cannot convey all the materials currently carried by the AGVs along the first conveying route, acquiring second electric quantity information of the rest AGVs which are conveyed between the charging area and the processing station; and controlling the current AGV to transfer materials in the charging area according to the second electric quantity information.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The utility model provides an AGV electric quantity scheduling method which characterized in that, this method is applied to the AGV, the AGV is in the round trip operation between reworking material storehouse and processing station for the material that will take at random and put in the reworking material storehouse is directed to corresponding processing station, be provided with the identification code on the material, reworking material storehouse with be provided with the charging area on the requisite way of processing station, be provided with recognition device in the charging area, the method includes:

S2: acquiring current first electric quantity information of the AGV;

2. The method for scheduling electric power of an AGV according to claim 1, wherein step S5 includes:

3. The method for scheduling electric power of an AGV according to claim 2, wherein step S53 includes:

4. The method for scheduling electric power of an AGV according to claim 2, further comprising, after step S52:

5. The method of scheduling power to an AGV according to claim 4, wherein step S55 includes:

6. The method for scheduling electric power of an AGV according to claim 2, further comprising, after step S52:

7. The method for scheduling electric power of an AGV according to claim 2, further comprising, after step S52:

8. An AGV power dispatching device, the device comprising:

And a second acquisition module: the AGV is used for acquiring second electric quantity information of the rest AGVs which are being transported between the charging area and the processing station when the AGVs cannot transport all the materials carried by the AGVs along the first transport route;

9. An electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of the method of any of claims 1-7.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the method according to any of claims 1-7.